Location estimation algorithm using UAV for real environments

Unmanned aerial vehicles (UAVs) have been shown to be capable of various activities at disaster sites, as they can be easily moved and are not affected by terrain conditions. The purpose of this study is to search for survivors in the UAV localization system. For this purpose, we explore a localization method using the Received Signal Strength Indicator (RSSI) when aerial photography cannot be used to find a victim buried in rubble. We propose a route search algorithm for position estimation using RSSI in obstacle-surrounded environments. We conducted an experiment in an urban area and evaluated the proposed algorithm. The proposed algorithm improves the accuracy of position estimation in disaster areas with more crowded situations.